Balance bearing device and control method thereof, transport equipment

Abstract

The present application relates to a balance bearing device, a control method thereof and a transport equipment. The balance bearing device is used for the transport equipment and includes two or more mobile assemblies, the two or more mobile assemblies being arranged to be stacked, each mobile assembly including a base, a mobile component and an adjusting component. The base has an arc-shaped guide rail, and the mobile component is arranged on the base and is able to move along the extension trajectory of the guide rail under the action of gravity. The adjusting component is connected between the mobile component and the base and is able to limit the limiting position of the mobile component moving along the guide rail; wherein the extension directions of the guide rails of two adjacent mobile assemblies intersect with each other, and the base of one of the two adjacent mobile assemblies is connected to the mobile component of the other. In the stacking direction of two or more mobile assemblies, the mobile assembly at the topmost layer is able to be connected to the component to be transported through the mobile component. The present application can meet the balance requirements of the component to be transported and ensure transport safety.

1 . A balance bearing device for a transport equipment, comprising:
 two or more mobile assemblies, wherein the two or more mobile assemblies are arranged to be stacked, each of the mobile assemblies includes a base, a mobile component, and an adjusting component, the base comprises an arc-shaped guide rail, the mobile component is arranged on the base and is able to move along an extension trajectory of the guide rail under the action of gravity, the adjusting component is connected between the mobile component and the base, and is configured to limit a limiting position of the mobile component moving along the guide rail;   wherein extension directions of the guide rails of adjacent two mobile assemblies intersect with each other, and the base of one of the adjacent two mobile assemblies is connected to the mobile component of the other of the adjacent two mobile assemblies, and in a stacking direction of the two or more mobile assemblies, the mobile assembly located at the topmost layer is able to be connected to a component to be transported through the mobile component.   
     
     
         2 . The balance bearing device according to  claim 1 , wherein the mobile component comprises a bearing body and a plurality of mobile units, the plurality of mobile units are distributed to be spaced apart and connected to the bearing body respectively, and each mobile unit is movably connected to the guide rail. 
     
     
         3 . The balance bearing device according to  claim 2 , wherein the base of each mobile component comprises two or more parallel guide rails which are arranged to be spaced apart, and each guide rail is movably connected to at least one mobile unit. 
     
     
         4 . The balance bearing device according to  claim 2 , wherein the mobile unit comprises a support frame, a traveling component and a locking component, the traveling component is connected to the support frame through the locking component, the traveling component is able to move along the extension trajectory of the guide rail, and the locking component is configured to lock a position of the traveling component on the base. 
     
     
         5 . The balance bearing device according to  claim 4 , wherein in the stacking direction, the base comprises a top surface and a bottom surface which are arranged to be opposite to each other, the top surface is an arc-shaped surface protruding toward a direction where the bottom surface is located, the guide rail is arranged on the arc-shaped surface, the traveling component is at least partially supported on the top surface, and one of the traveling component and the guide rails extends at least partially into an interior of the other of the traveling component and the guide rails and is movably connected to the other of the traveling component and the guide rails; or
 wherein the guide rail is an arc-shaped groove body, the guide rail is formed to be recessed from the top surface toward a side close to the bottom surface, the traveling component comprises a traveling wheel and a clamping protrusion rotatably connected to the traveling wheel, the traveling wheel is supported on the top surface and rotatably connected to the locking component, and the clamping protrusion is clamped inside the guide rail and is able to move along the extension direction of the guide rail.   
     
     
         6 . (canceled) 
     
     
         7 . The balance bearing device according to  claim 5 , wherein the guide rail is an arc-shaped protrusion, the guide rail is formed to protrude from the top surface toward a side away from the bottom surface, the traveling component comprises a traveling wheel and a clamping groove arranged on the traveling wheel, the traveling wheel is supported on the top surface, and the clamping groove is clamped to the guide rail and is able to move along the extension direction of the guide rail. 
     
     
         8 . The balance bearing device according to  claim 4 , wherein the locking component comprises an installation body and a rotating body, the installation body is connected to the support frame, the rotating body is rotatably connected to the installation body through a first rotating pair, the traveling component is rotatably connected to the rotating body through a second rotating pair, and a rotational axis of the first rotating pair is parallel to a rotational axis of the second rotating pair and spaced apart from the rotational axis of the second rotating pair. 
     
     
         9 . The balance bearing device according to  claim 8 , wherein the rotating body comprises a first rotating body and a second rotating body, and the installation body is located between the first rotating body and the second rotating body, the first rotating pair is fixedly connected to the first rotating body and the second rotating body and is rotatably connected to the installation body, and the traveling component is connected to the first rotating body. 
     
     
         10 . The balance bearing device according to  claim 9 , wherein the locking component further comprises a driving assembly which drives the rotating body to rotate relative to the installation body with the first rotating pair as a rotation center. 
     
     
         11 . The balance bearing device according to  claim 10 , wherein the driving assembly comprises an adjusting screw and a nut, one end of the adjusting screw is connected to the base and the other end of the adjusting screw passes through the first rotating body, the nut is in threaded connection with the adjusting screw, the nut is able to move along an axial direction of the adjusting screw and squeeze the first rotating body so as to drive the rotating body as a whole to rotate relative to the installation body with the first rotating pair as a center; or
 wherein the driving assembly comprises an electric driving component, one end of the electric driving component is connected to the support frame and the other end of the electric dr component is engaged with the second rotating body so as to drive the rotating body as a whole to rotate relative to the installation body with the first rotating pair as a center.   
     
     
         12 . (canceled) 
     
     
         13 . The balance bearing device according to  claim 11 , wherein the electric driving component comprises a telescopic member connected to the second rotating body, the telescopic member extends or retracts to drive the second rotating body to rotate the first rotating body and the traveling component with the first rotating pair as the center. 
     
     
         14 . The balance bearing device according to  claim 8 , wherein the locking component further comprises an insertion part detachably connected to the traveling component, the installation body, and the rotating body. 
     
     
         15 . (canceled) 
     
     
         16 . The balance bearing device according to  claim 1 , wherein the balance bearing device further comprises an adapter assembly which is connected between two adjacent mobile assemblies. 
     
     
         17 . The balance bearing device according to  claim 16 , wherein the adapter assembly comprises a transition platform and a support rod, the transition platform is located between the two adjacent mobile assemblies, an arc-shaped guide groove is provided on the base of one of the two adjacent mobile assemblies, the transition platform is connected to the mobile component of one of the two adjacent mobile assemblies and is connected to the base of the other of the two adjacent mobile assemblies, one end of the support rod is hinged to the transition platform and the other end of the support rod is movably connected to the arc-shaped guide groove. 
     
     
         18 . The balance bearing device according to  claim 1 , wherein the adjusting component comprises a telescopic cylinder, one of a cylinder body and a cylinder rod of the telescopic cylinder is connected to the mobile component and the other of the cylinder body and the cylinder rod of the telescopic cylinder is connected to the base;
 or, the adjusting component comprises an elastic body, one end of the elastic body is connected to the mobile component and the other end of the elastic body is connected to the base;   or, the adjusting component comprises an electromagnetic member, the electromagnetic member comprises a first electromagnetic part and a second electromagnetic part, the first electromagnetic part is connected to the mobile component, the second electromagnetic part is connected to the base and the first electromagnetic part and the second electromagnetic part are able to interact with each other and generate an action of magnetic force.   
     
     
         19 . (canceled) 
     
     
         20 . The balance bearing device according to  claim 1 , wherein the balance bearing device further comprises a detector and a controller, the detector is configured to detect a tilting condition of the transport equipment, the controller is configured so that when the tilting condition is within the preset threshold range, the respective mobile component is able to be kept moving along the guide rail under the action of gravity so that the mobile component for connection with the component to be transported is in a balance position. 
     
     
         21 . The balance bearing device according to  claim 20 , wherein the tilting condition comprises an inclination angle A of the transport equipment relative to a horizontal plane, and the preset threshold range comprises −7°±0.5°≤A≤7°±0.5°. 
     
     
         22 . The balance bearing device according to  claim 21 , wherein the tilting condition further comprises a displacement B of the mobile component along the extension direction of the corresponding guide rail, the preset threshold range further comprises B1−B2≤B≤B1+B2, wherein B1 is a length size of the adjusting component in the extension direction of the guide rail when a center of gravity of the mobile component of the mobile assembly for connection with the component to be transported coincides with a center of gravity of the base in the stacking direction, and B2 is an offset size of the center of gravity of the mobile component of the mobile assembly for connection with the component to be transported relative to the center of gravity of the base in the extension direction of the guide rail when the inclination angle A of the transport equipment reaches the preset threshold range. 
     
     
         23 . The balance bearing device according to  claim 22 , wherein the controller is further configured to control the adjusting component to provide a force opposite to a moving direction of the mobile component to the mobile component, and/or to lock a position of the mobile component of each mobile assembly relative to the base, when the tilting condition exceeds the preset threshold range. 
     
     
         24 . (canceled) 
     
     
         25 . (canceled) 
     
     
         26 . A transport equipment, comprising the balance bearing device as claimed in  claim 1 .